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Hi,

it usually depends on the actual usecase. For instance if you are tracking a building and the surrounding environment does not change, you'd better leave the background, on the other hand, for objects that can be moved you could remove the background and in some cases you could get better results.

I say "in some cases" because the target generation algorithm already do this kind of thing 'somehow' and you could not notice any difference with or without the background. But we found that especially with objects that tend to have less features than the background it could really help to remove the background from the photographs becuase the algorithm would otherwise tend to extract more features from the background than from the actual object.